Image based real-time 3D reconstruction for teleoperation system

摘要

In this paper, a teleoperation system with virtual reality for a construction robot is investigated. Computer graphics (CG) of the robot and task objects are presented to the operator in virtual scene as a tool for assisting teleoperation. The operator performs remote operation of the construction robot by manipulating the graphic robot directly in virtual environment using the joysticks. The position and shape of the task objects in virtual world are updated in real time on basis of image information obtained by a stereo camera fixed in remote field. At the same time, in order to provide operator with adequate visual cues of working fields, the virtual background environment (VBE) is also rendered in CG based on the depth map of the stereo camera. Also, to improve the efficiency as well as security of teleoperation, the methods of auto point of view (APV) is applied in the system. Finally, a comparative study of a one-screen visual display combining APV and VBE with the conventional three-screens visual display is carried out based on the results of evaluation experiment. The experiments confirmed that one-screen visual display combining APV and VBE is superior with better operability and safety. This electronic document is a "live" template. The various components of your paper [title, text, heads, etc.] are already defined on the style sheet, as illustrated by the portions given in this document.